Journal ArticleDOI
Strictly positive real admittances for coupled stability
TLDR
In this paper, a new definition of a "strictly positive real" function is presented, and is used to provide necessary and sufficient conditions for the exponential stability of a coupled system comprising a 1-port robot with a strictly positive real admittance, and a one-port environment with a positive real (but otherwise arbitrary) impedance.Abstract:
This paper builds upon recent work that has addressed the stability of a feedback- controlled robot coupled to a passive, dynamic environment. A new definition of a “strictly positive real” function is presented, and is used to provide necessary and sufficient conditions for the exponential stability of a coupled system comprising a 1-port robot with a strictly positive real admittance, and a 1-port environment with a positive real (but otherwise arbitrary) impedance. The distinction between the new definition and conventional definitions of a strictly positive real function is founded in physical systems theory; the new definition relies upon distinct roles for efforts and flows, and upon the concept of an excess state. This definition will provide a useful design constraint for the development of robust robot controllers.read more
Citations
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Journal ArticleDOI
Robust impedance shaping telemanipulation
TL;DR: "Impedance shaping bilateral control", introduced here, differs in that it treats the bilateral manipulator as a means of constructively altering the impedance of a task by guaranteeing the stability of the operator/manipulator/task system.
Proceedings ArticleDOI
Power and impedance scaling in bilateral manipulation
TL;DR: A condition for the robust stability of an operator/bilateral manipulator environment system is derived using the structured singular value and the application of this condition is illustrated with several examples of power and impedance scaling via a two-channel bilateral manipulator.
Journal ArticleDOI
Synthesis of biquadratic impedances with at most four passive elements
TL;DR: The constraints on the possible realizations are used to derive the networks which can cover all the cases, and they are classified as several quartets, and through investigating one of the networks in each quartet, it is obtained that any biquadratic impedance to be realizable with at most four elements.
Dissertation
Haptic control of hydraulic machinery using proportional valves
TL;DR: In this paper, a virtual excavator is used for human-in-the-loop testing of a tractor mounted backhoe with low-end components including a constant displacement pump, proportional valves and pressure sensor based force estimation.
Journal ArticleDOI
Stability and quantization-error analysis of haptic rendering of virtual stiffness and damping
TL;DR: This paper examines a canonical, one degree of freedom, haptic display rendering a virtual spring and damper, including the effects of the device and human dynamics, sampling, position quantization, time delay, and the low-pass filter operating on the device velocity estimate.
References
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Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Proceedings ArticleDOI
Impedance Control: An Approach to Manipulation
TL;DR: In this paper, a unified approach to kinematically constrained motion, dynamic interaction, target acquisition and obstacle avoidance is presented, which results in a unified control of manipulator behaviour.
Book
Feedback Systems: Input-output Properties
TL;DR: In this paper, the Bellman-Gronwall Lemma has been applied to the small gain theorem in the context of linear systems and convolutional neural networks, and it has been shown that it can be applied to linear systems.
Book
Multivariable Feedback Design
TL;DR: In this article, a comprehensive and unified view of modern multivariate feedback theory and design is presented, where balancing techniques with theory, the objective throughout is to enable the feedback engineer to design real systems.
Book
Multivariable Feedback Design
TL;DR: This is the first text to give a comprehensive and unified view of modern multivariable feedback theory and design the feedback engineer to design real systems.